/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RW_GRASPPLANNING_GRASP3D_HPP_
#define RW_GRASPPLANNING_GRASP3D_HPP_

#include <rw/math/Vector3D.hpp>
#include <rw/sensor/Contact3D.hpp>

namespace rw { namespace graspplanning {

    /**
     * @brief a grasp is a set of contacts between the object to be grasped and
     * the robot gripper.
     */
    class Grasp3D
    {
      public:
        Grasp3D (int nrOfContacts = 1) :phi(0), psi(0),quality(0), contacts (nrOfContacts), approach (nrOfContacts) {}

        Grasp3D (const std::vector< rw::sensor::Contact3D > cons) :
            phi(0), psi(0),quality(0), contacts (cons), approach (cons.size ())
        {}

        void scale (double clerance)
        {
            for (size_t i = 0; i < contacts.size (); i++)
                contacts[i].p += normalize (approach[i]) * clerance;
        }

        double phi, psi, quality;
        std::vector< rw::sensor::Contact3D > contacts;
        std::vector< rw::math::Vector3D<> > approach;
        rw::math::Vector3D<> center;
    };
}}     // namespace rw::graspplanning
#endif /*GRASP_HPP_*/
